{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:4TQH7INQ74VJFBBSBQUB3AS2KB","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"c73a7d620c493a5741c02bd411073bfb3134d9f654f6248525c8556828760f02","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-06-16T17:26:06Z","title_canon_sha256":"1d8345de58776d4a11f8d11e9f60791e1062488ffd8c5b72884caf23b74f5a32"},"schema_version":"1.0","source":{"id":"2206.08321","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2206.08321","created_at":"2026-07-05T07:09:42Z"},{"alias_kind":"arxiv_version","alias_value":"2206.08321v3","created_at":"2026-07-05T07:09:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2206.08321","created_at":"2026-07-05T07:09:42Z"},{"alias_kind":"pith_short_12","alias_value":"4TQH7INQ74VJ","created_at":"2026-07-05T07:09:42Z"},{"alias_kind":"pith_short_16","alias_value":"4TQH7INQ74VJFBBS","created_at":"2026-07-05T07:09:42Z"},{"alias_kind":"pith_short_8","alias_value":"4TQH7INQ","created_at":"2026-07-05T07:09:42Z"}],"graph_snapshots":[{"event_id":"sha256:549744b60394a0fc099080700e6651517746a85abeaddf02a5e4fbf8e2ebffbe","target":"graph","created_at":"2026-07-05T07:09:42Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2206.08321/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"End-to-end learning for visual robotic manipulation is known to suffer from sample inefficiency, requiring large numbers of demonstrations. The spatial roto-translation equivariance, or the SE(3)-equivariance can be exploited to improve the sample efficiency for learning robotic manipulation. In this paper, we present SE(3)-equivariant models for visual robotic manipulation from point clouds that can be trained fully end-to-end. By utilizing the representation theory of the Lie group, we construct novel SE(3)-equivariant energy-based models that allow highly sample efficient end-to-end learnin","authors_text":"Hong-in Lee, Hyunwoo Ryu, Jeong-Hoon Lee, Jongeun Choi","cross_cats":["cs.AI"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-06-16T17:26:06Z","title":"Equivariant Descriptor Fields: SE(3)-Equivariant Energy-Based Models for End-to-End Visual Robotic Manipulation Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2206.08321","kind":"arxiv","version":3},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:3026715c89c7450007cb3c1c71152036c9fbbb638fd241d28b22090711a042f3","target":"record","created_at":"2026-07-05T07:09:42Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"c73a7d620c493a5741c02bd411073bfb3134d9f654f6248525c8556828760f02","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-06-16T17:26:06Z","title_canon_sha256":"1d8345de58776d4a11f8d11e9f60791e1062488ffd8c5b72884caf23b74f5a32"},"schema_version":"1.0","source":{"id":"2206.08321","kind":"arxiv","version":3}},"canonical_sha256":"e4e07fa1b0ff2a9284320c281d825a504aa5a3456cf7c0fa30c75312a7cf335c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e4e07fa1b0ff2a9284320c281d825a504aa5a3456cf7c0fa30c75312a7cf335c","first_computed_at":"2026-07-05T07:09:42.702122Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:09:42.702122Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"4LB1HhYVLUd5pDGtP9VuHErh25YIX+MS5HLQDJZFldn0NjanBqJfbT8bTxl+k/eV34IlU686yGuKSFYqqaWwBw==","signature_status":"signed_v1","signed_at":"2026-07-05T07:09:42.702618Z","signed_message":"canonical_sha256_bytes"},"source_id":"2206.08321","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3026715c89c7450007cb3c1c71152036c9fbbb638fd241d28b22090711a042f3","sha256:549744b60394a0fc099080700e6651517746a85abeaddf02a5e4fbf8e2ebffbe"],"state_sha256":"f2313458ac6d1466190dd4d12b7482d71bc2f4619a83ba0cf8cd36fe514fd5bf"}